Robust loopshaping using iterative feedback tuning

• Iterative Feedback Tuning (IFT) is a direct tuning method using closed loop experimental data. The method is based on numerical optimization and in each iteration an unbiased gradient estimate is used. In this contribution we show how to use IFT to do robust loopshaping. One method, based on the approach suggested by Glover and McFarlane [1], uses an approximate H∞ cost function and alternates between updating the loop gains and the robustness margins. In a second, H2 based method, a joint criterion of robustness and performance is optimized. The methods are illustrated on numerical examples.

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

Nyckelord

adaptive control

control and optimization

Multivariable control

Cost functions

Feedback

Numerical methods

Optimization

Robustness (control systems)

Time varying networks

Gradient estimates

Iterative feedback tuning

Numerical optimizations

Robustness margins

Tuning method

Iterative methods

Publikations- och innehållstyp

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